We implement a low-level model-based locomotion controller using the Centroidal Dynamics Model [1]}. We represent the state of a robot as \(\mathbf {q}=(\mathbf {q}_{\text{base}}, \mathbf {p}_{\text{foot}})\) , where \(\mathbf {q}_{\text{base}}\in SE(3)\)  represents the position and orientation of the robot base, and \(\mathbf {p}_{\text{foot}}=(\mathbf {p}_1, \mathbf {p}_2, \mathbf {p}_3, \mathbf {p}_4)\in \mathbb {R}^{12}\)  represents the four foot positions relative to the base. We develop separate controllers for stance and the swing legs.
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